Sanjeevi, N. S.S.N. S.S.SanjeeviVashista, VineetVineetVashista2025-08-312025-08-312021-12-2810.1017/S02635747210002422-s2.0-85105220613http://repository.iitgn.ac.in/handle/IITG2025/25173With the widespread development of leg exoskeletons to provide external force-based repetitive training for gait rehabilitation, the prospect of undesired movement adaptation due to applied forces and imposed constraints require adequate investigation. A cable-driven leg exoskeleton, CDLE, presents a lightweight, flexible, and redundantly actuated architecture that enables the possibility of system parameters modulation to alter human-robot interaction while applying the desired forces. In this work, multi-joint stiffness performance of CDLE is formulated to systematically analyze human-CDLE interaction. Further, potential alterations in CDLE architecture are presented to tune human-CDLE interaction that favors the desired human leg movement during a gait rehabilitation paradigm.falseCable-driven robots | Exoskeleton | Gait rehabilitation | Human-Robot interaction | Stiffness modulationArticle146986682172-219228 December 20218arJournal8WOS:000722323300007